OpenRaiser/Intern-Atlas huggingface dataset:
Deep Learning-based Robust Autonomous Navigation of Aerial Robots in Dense Forests
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous aerial navigation in dense natural environments remains challenging due to limited visibility, thin and irregular obstacles, GNSS-denied operation, and frequent perceptual degradation. This work presents an improved deep learning-based navigation framework that integrates semantically enhanced depth encoding with neural motion-primitive evaluation for robust flight in cluttered forests. Several modules are incorporated on top of the original sevae-ORACLE algorithm to address limitations observed during real-world deployment, including lateral control for sharper maneuvering, a temporal consistency mechanism to suppress oscillatory planning decisions, a stereo-based visual-inertial odometry solution for drift-resilient state estimation, and a supervisory safety layer that filters unsafe actions in real time. A depth refinement stage is included to improve the representation of thin branches and reduce stereo noise, while GPU optimization increases onboard inference throughput from 4 Hz to 10 Hz. The proposed approach is evaluated against several existing learning-based navigation methods under identical environmental conditions and hardware constraints. It demonstrates higher success rates, more stable trajectories, and improved collision avoidance, particularly in highly cluttered forest settings. The system is deployed on a custom quadrotor in three boreal forest environments, achieving fully autonomous completion in all flights in moderate and dense clutter, and 12 out of 15 flights in highly dense underbrush. These results demonstrate improved reliability and safety over existing navigation methods in complex natural environments.
Learning-Based Safety-Aware Task Scheduling for Efficient Human-Robot Collaboration
Venue: arXiv cs.RO 2025
Year: 2025

Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency losses without assuming prior knowledge of safety logic. Using a deep-learning model, the robot learns the relationship between system state and safety-induced speed reductions based on execution data. Our framework does not explicitly predict human motions but directly models the interaction effects on robot speed, simplifying implementation and enhancing generalizability to different safety logics. At runtime, the learned model optimizes task selection to minimize cycle time while adhering to safety requirements. Experiments on a pick-and-packaging scenario demonstrated significant reductions in cycle times.
A unified FLAIR hyperintensity segmentation model for various CNS tumor types and acquisition time points
Venue: arXiv cs.CV 2025
Year: 2025

T2-weighted fluid-attenuated inversion recovery (FLAIR) magnetic resonance imaging (MRI) scans are important for diagnosis, treatment planning and monitoring of brain tumors. Depending on the brain tumor type, the FLAIR hyperintensity volume is an important measure to asses the tumor volume or surrounding edema, and an automatic segmentation of this would be useful in the clinic. In this study, around 5000 FLAIR images of various tumors types and acquisition time points from different centers were used to train a unified FLAIR hyperintensity segmentation model using an Attention U-Net architecture. The performance was compared against dataset specific models, and was validated on different tumor types, acquisition time points and against BraTS. The unified model achieved an average Dice score of 88.65\% for pre-operative meningiomas, 80.08% for pre-operative metastasis, 90.92% for pre-operative and 84.60% for post-operative gliomas from BraTS, and 84.47% for pre-operative and 61.27\% for post-operative lower grade gliomas. In addition, the results showed that the unified model achieved comparable segmentation performance to the dataset specific models on their respective datasets, and enables generalization across tumor types and acquisition time points, which facilitates the deployment in a clinical setting. The model is integrated into Raidionics, an open-source software for CNS tumor analysis.
3One2: One-step Regression Plus One-step Diffusion for One-hot Modulation in Dual-path Video Snapshot Compressive Imaging
Venue: arXiv cs.CV 2025
Year: 2025

Video snapshot compressive imaging (SCI) captures dynamic scene sequences through a two-dimensional (2D) snapshot, fundamentally relying on optical modulation for hardware compression and the corresponding software reconstruction. While mainstream video SCI using random binary modulation has demonstrated success, it inevitably results in temporal aliasing during compression. One-hot modulation, activating only one sub-frame per pixel, provides a promising solution for achieving perfect temporal decoupling, thereby alleviating issues associated with aliasing. However, no algorithms currently exist to fully exploit this potential. To bridge this gap, we propose an algorithm specifically designed for one-hot masks. First, leveraging the decoupling properties of one-hot modulation, we transform the reconstruction task into a generative video inpainting problem and introduce a stochastic differential equation (SDE) of the forward process that aligns with the hardware compression process. Next, we identify limitations of the pure diffusion method for video SCI and propose a novel framework that combines one-step regression initialization with one-step diffusion refinement. Furthermore, to mitigate the spatial degradation caused by one-hot modulation, we implement a dual optical path at the hardware level, utilizing complementary information from another path to enhance the inpainted video. To our knowledge, this is the first work integrating diffusion into video SCI reconstruction. Experiments conducted on synthetic datasets and real scenes demonstrate the effectiveness of our method.
Torrent: A Distributed DMA for Efficient and Flexible Point-to-Multipoint Data Movement
Venue: arXiv cs.AR 2025
Year: 2025

The growing disparity between computational power and on-chip communication bandwidth is a critical bottleneck in modern Systems-on-Chip (SoCs), especially for data-parallel workloads like AI. Efficient point-to-multipoint (P2MP) data movement, such as multicast, is essential for high performance. However, native multicast support is lacking in standard interconnect protocols. Existing P2MP solutions, such as multicast-capable Network-on-Chip (NoC), impose additional overhead to the network hardware and require modifications to the interconnect protocol, compromising scalability and compatibility. This paper introduces Torrent, a novel distributed DMA architecture that enables efficient P2MP data transfers without modifying NoC hardware and interconnect protocol. Torrent conducts P2MP data transfers by forming logical chains over the NoC, where the data traverses through targeted destinations resembling a linked list. This Chainwrite mechanism preserves the P2P nature of every data transfer while enabling flexible data transfers to an unlimited number of destinations. To optimize the performance and energy consumption of Chainwrite, two scheduling algorithms are developed to determine the optimal chain order based on NoC topology. Our RTL and FPGA prototype evaluations using both synthetic and real workloads demonstrate significant advantages in performance, flexibility, and scalability over network-layer multicast. Compared to the unicast baseline, Torrent achieves up to a 7.88x speedup. ASIC synthesis on 16nm technology confirms the architecture's minimal footprint in area (1.2%) and power (2.3%). Thanks to the Chainwrite, Torrent delivers scalable P2MP data transfers with a small cycle overhead of 82CC and area overhead of 207um2 per destination.
Digital Bricolage: Design Speculations for Embodied Approaches to Digitized Print-based Cultural Collections
Venue: arXiv cs.HC 2025
Year: 2025

COVID-related closures of public and academic libraries have underlined the importance of online platforms that provide access to digitized print-based collections. However, they also have highlighted the value of in-person handling of print artefacts for sensing and making sense of them. How do existing dominant digital platforms invite and/or discourage embodied forms of exploration and sense-making? What opportunities for embodied experience might we discover if we embrace the material qualities of print-based collections when designing interfaces for digital access? In this paper, we present findings from a speculative exercise where we invited creative professionals and experts in curating and handling access to collections to reflect on existing approaches to digitized print-based collections and to speculate about alternative design opportunities and modes of engagement. We argue for digital bricolage-a design approach that values working with materials that are "on hand" and embracing our ability to "handle" them in ways that foster both casual and curious exploration.
A Unified Representation of Neural Networks Architectures
Venue: arXiv cs.LG 2025
Year: 2025

In this paper we consider the limiting case of neural networks (NNs) architectures when the number of neurons in each hidden layer and the number of hidden layers tend to infinity thus forming a continuum, and we derive approximation errors as a function of the number of neurons and/or hidden layers. Firstly, we consider the case of neural networks with a single hidden layer and we derive an integral infinite width neural representation that generalizes existing continuous neural networks (CNNs) representations. Then we extend this to deep residual CNNs that have a finite number of integral hidden layers and residual connections. Secondly, we revisit the relation between neural ODEs and deep residual NNs and we formalize approximation errors via discretization techniques. Then, we merge these two approaches into a unified homogeneous representation of NNs as a Distributed Parameter neural Network (DiPaNet) and we show that most of the existing finite and infinite-dimensional NNs architectures are related via homogenization/discretization with the DiPaNet representation. Our approach is purely deterministic and applies to general, uniformly continuous matrix weight functions. Relations with neural fields and other neural integro-differential equations are discussed along with further possible generalizations and applications of the DiPaNet framework.
MAD-OOD: A Deep Learning Cluster-Driven Framework for an Out-of-Distribution Malware Detection and Classification
Venue: arXiv cs.CR 2025
Year: 2025

Out of distribution (OOD) detection remains a critical challenge in malware classification due to the substantial intra family variability introduced by polymorphic and metamorphic malware variants. Most existing deep learning based malware detectors rely on closed world assumptions and fail to adequately model this intra class variation, resulting in degraded performance when confronted with previously unseen malware families. This paper presents MADOOD, a novel two stage, cluster driven deep learning framework for robust OOD malware detection and classification. In the first stage, malware family embeddings are modeled using class conditional spherical decision boundaries derived from Gaussian Discriminant Analysis (GDA), enabling statistically grounded separation of indistribution and OOD samples without requiring OOD data during training. Z score based distance analysis across multiple class centroids is employed to reliably identify anomalous samples in the latent space. In the second stage, a deep neural network integrates cluster based predictions, refined embeddings, and supervised classifier outputs to enhance final classification accuracy. Extensive evaluations on benchmark malware datasets comprising 25 known families and multiple novel OOD variants demonstrate that MADOOD significantly outperforms state of the art OOD detection methods, achieving an AUC of up to 0.911 on unseen malware families. The proposed framework provides a scalable, interpretable, and statistically principled solution for real world malware detection and anomaly identification in evolving cybersecurity environments.
Sandwiched and Silent: Behavioral Adaptation and Private Channel Exploitation in Ethereum MEV
Venue: arXiv cs.CR 2025
Year: 2025

How users adapt after being sandwiched remains unclear; this paper provides an empirical quantification. Using transaction level data from November 2024 to February 2025, enriched with mempool visibility and ZeroMEV labels, we track user outcomes after their n-th public sandwich: (i) reactivation, i.e., the resumption of on-chain activity within a 60-day window, and (ii) first-time adoption of private routing. We refer to users who do not reactivate within this window as churned, and to users experiencing multiple attacks (n>1) as undergoing repeated exposure. Our analysis reveals measurable behavioral adaptation: around 40% of victims migrate to private routing within 60 days, rising to 54% with repeated exposures. Churn peaks at 7.5% after the first sandwich but declines to 1-2%, consistent with survivor bias. In Nov-Dec 2024 we confirm 2,932 private sandwich attacks affecting 3,126 private victim transactions, producing \$409,236 in losses and \$293,786 in attacker profits. A single bot accounts for nearly two-thirds of private frontruns, and private sandwich activity is heavily concentrated on a small set of DEX pools. These results highlight that private routing does not guarantee protection from MEV extraction: while execution failures push users toward private channels, these remain exploitable and highly concentrated, demanding continuous monitoring and protocol-level defenses.
MGRegBench: A Novel Benchmark Dataset with Anatomical Landmarks for Mammography Image Registration
Venue: arXiv cs.CV 2025
Year: 2025

Robust mammography registration is essential for clinical applications like tracking disease progression and monitoring longitudinal changes in breast tissue. However, progress has been limited by the absence of public datasets and standardized benchmarks. Existing studies are often not directly comparable, as they use private data and inconsistent evaluation frameworks. To address this, we present MGRegBench, a public benchmark dataset for mammogram registration. It comprises over 5,000 image pairs, with 100 containing manual anatomical landmarks and segmentation masks for rigorous evaluation. This makes MGRegBench one of the largest public 2D registration datasets with manual annotations. Using this resource, we benchmarked diverse registration methods including classical (ANTs), learning-based (VoxelMorph, TransMorph), implicit neural representation (IDIR), a classic mammography-specific approach, and a recent state-of-the-art deep learning method MammoRegNet. The implementations were adapted to this modality from the authors' implementations or re-implemented from scratch. Our contributions are: (1) the first public dataset of this scale with manual landmarks and masks for mammography registration; (2) the first like-for-like comparison of diverse methods on this modality; and (3) an extensive analysis of deep learning-based registration. We publicly release our code and data to establish a foundational resource for fair comparisons and catalyze future research. The source code and data are at https://github.com/KourtKardash/MGRegBench.
Iterative Gaussian Approximation for Random Spreading Unsourced Random Access
Venue: arXiv cs.IT 2025
Year: 2025

Massive machine-type communications (mMTC) demand robust solutions to support extensive connectivity efficiently. Unsourced random access (URA) has emerged as a promising approach, delivering high spectral and energy efficiency. Among URA code structures, the random spreading (RS) category is a key enabler, providing strong anti-interference capabilities through spectrum spreading gain. Notably, RS-URA approaches theoretical performance limits over the Gaussian multiple access channel in scenarios with few active users. In this paper, we propose an iterative Gaussian approximation decoder designed universally for RS-URA categories. The proposed receiver iterates extrinsic and intrinsic soft information to enhance decoding performance, requiring only a few iterations to converge. Numerical results validate the decoder's effectiveness in terms of performance and robustness.
Mitigating Forgetting in Low Rank Adaptation
Venue: arXiv cs.LG 2025
Year: 2025

Parameter-efficient fine-tuning methods, such as Low-Rank Adaptation (LoRA), enable fast specialization of large pre-trained models to different downstream applications. However, this process often leads to catastrophic forgetting of the model's prior domain knowledge. We address this issue with LaLoRA, a weight-space regularization technique that applies a Laplace approximation to Low-Rank Adaptation. Our approach estimates the model's confidence in each parameter and constrains updates in high-curvature directions, preserving prior knowledge while enabling efficient target-domain learning. By applying the Laplace approximation only to the LoRA weights, the method remains lightweight. We evaluate LaLoRA by fine-tuning a Llama model for mathematical reasoning and demonstrate an improved learning-forgetting trade-off, which can be directly controlled via the method's regularization strength. We further explore different loss landscape curvature approximations for estimating parameter confidence, analyze the effect of the data used for the Laplace approximation, and study robustness across hyperparameters.
When the Gold Standard isn't Necessarily Standard: Challenges of Evaluating the Translation of User-Generated Content
Venue: arXiv cs.CL 2025
Year: 2025

User-generated content (UGC) is characterised by frequent use of non-standard language, from spelling errors to expressive choices such as slang, character repetitions, and emojis. This makes evaluating UGC translation particularly challenging: what counts as a "good" translation depends on the level of standardness desired in the output. To explore this, we examine the human translation guidelines of four UGC datasets, and derive a taxonomy of twelve non-standard phenomena and five translation actions (NORMALISE, COPY, TRANSFER, OMIT, CENSOR). Our analysis reveals notable differences in how UGC is treated, resulting in a spectrum of standardness in reference translations. Through a case study on large language models (LLMs), we show that translation scores are highly sensitive to prompts with explicit translation instructions for UGC, and that they improve when these align with the dataset's guidelines. We argue that when preserving UGC style is important, fair evaluation requires both models and metrics to be aware of translation guidelines. Finally, we call for clear guidelines during dataset creation and for the development of controllable, guideline-aware evaluation frameworks for UGC translation.
Perceptions of the Metaverse at the Peak of the Hype Cycle: A Cross-Sectional Study Among Turkish University Students
Venue: arXiv cs.CY 2025
Year: 2025

During the height of the hype in late 2021, the Metaverse drew more attention from around the world than ever before. It promised new ways to interact with people in three-dimensional digital spaces. This cross-sectional study investigates the attitudes, perceptions, and predictors of the willingness to engage with the Metaverse among 381 Turkish university students surveyed in December 2021. The study employs Fisher's Exact Tests and binary logistic regression to assess the influence of demographic characteristics, prior digital experience, and perception-based factors. The results demonstrate that demographic factors, such as gender, educational attainment, faculty association, social media engagement, and previous virtual reality exposure, do not significantly forecast the propensity to participate in the Metaverse. Instead, the main things that affect people's intentions to adopt are how they see things. Belief in the Metaverse's capacity to revolutionize societal frameworks, especially human rights, surfaced as the most significant positive predictor of willingness. Conversely, apprehensions regarding psychological harm, framed as a possible 'cyber syndrome' represented a significant obstacle to participation. Perceptions of technical compatibility and ethical considerations showed complex effects, showing that optimism, uncertainty, and indifference affect willingness in different ways. In general, the results show that early adoption of the Metaverse is based on how people see it, not on their demographics. The research establishes a historically informed benchmark of user skepticism and prudent assessment during the advent of Web 3.0, underscoring the necessity of addressing collective psychological, ethical, and normative issues to promote future engagement.
Pix2NPHM: Learning to Regress NPHM Reconstructions From a Single Image
Venue: arXiv cs.CV 2025
Year: 2025

Neural Parametric Head Models (NPHMs) are a recent advancement over mesh-based 3d morphable models (3DMMs) to facilitate high-fidelity geometric detail. However, fitting NPHMs to visual inputs is notoriously challenging due to the expressive nature of their underlying latent space. To this end, we propose Pix2NPHM, a vision transformer (ViT) network that directly regresses NPHM parameters, given a single image as input. Compared to existing approaches, the neural parametric space allows our method to reconstruct more recognizable facial geometry and accurate facial expressions. For broad generalization, we exploit domain-specific ViTs as backbones, which are pretrained on geometric prediction tasks. We train Pix2NPHM on a mixture of 3D data, including a total of over 100K NPHM registrations that enable direct supervision in SDF space, and large-scale 2D video datasets, for which normal estimates serve as pseudo ground truth geometry. Pix2NPHM not only allows for 3D reconstructions at interactive frame rates, it is also possible to improve geometric fidelity by a subsequent inference-time optimization against estimated surface normals and canonical point maps. As a result, we achieve unprecedented face reconstruction quality that can run at scale on in-the-wild data.
A 14ns-Latency 9Gb/s 0.44mm$^2$ 62pJ/b Short-Blocklength LDPC Decoder ASIC in 22FDX
Venue: arXiv cs.AR 2025
Year: 2025

Ultra-reliable low latency communication (URLLC) is a key part of 5G wireless systems. Achieving low latency necessitates codes with short blocklengths for which polar codes with successive cancellation list (SCL) decoding typically outperform message-passing (MP)-based decoding of low-density parity-check (LDPC) codes. However, SCL decoders are known to exhibit high latency and poor area efficiency. In this paper, we propose a new short-blocklength multi-rate binary LDPC code that outperforms the 5G-LDPC code for the same blocklength and is suitable for URLLC applications using fully parallel MP. To demonstrate our code's efficacy, we present a 0.44mm$^2$ GlobalFoundries 22FDX LDPC decoder ASIC which supports three rates and achieves the lowest-in-class decoding latency of 14ns while reaching an information throughput of 9Gb/s at 62pJ/b energy efficiency for a rate-1/2 code with 128-bit blocklength.